Upload DataProcessorPipeline
Browse files
policy_preprocessor.json
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{
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"name": "policy_preprocessor",
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"steps": [
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{
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"registry_name": "rename_observations_processor",
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"config": {
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"rename_map": {}
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}
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},
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{
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"registry_name": "normalizer_processor",
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"config": {
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"eps": 1e-08,
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"features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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12
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]
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},
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"observation.images.left_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.right_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.right_front": {
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"type": "VISUAL",
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"shape": [
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3,
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720,
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1280
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]
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},
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"action": {
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"type": "ACTION",
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"shape": [
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12
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]
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}
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},
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"norm_map": {
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"VISUAL": "IDENTITY",
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"STATE": "QUANTILES",
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"ACTION": "IDENTITY"
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},
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"normalize_observation_keys": [
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"observation.state"
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]
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},
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"state_file": "policy_preprocessor_step_1_normalizer_processor.safetensors"
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},
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{
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"registry_name": "pistar06_prepare_task_prompt",
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"config": {
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"task_key": "task",
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"include_state_in_prompt": true,
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"state_feature": "observation.state",
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"max_state_dim": 32,
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"state_discretization_bins": 256
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}
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},
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{
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"registry_name": "tokenizer_processor",
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"config": {
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"max_length": 200,
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"task_key": "task",
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"padding_side": "right",
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"padding": "max_length",
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"truncation": true,
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"tokenizer_name": "google/gemma-3-270m"
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}
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},
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{
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"registry_name": "pistar06_prepare_images",
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"config": {
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"camera_features": [
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"observation.images.left_wrist",
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"observation.images.right_wrist",
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"observation.images.right_front"
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]
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}
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},
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{
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"registry_name": "device_processor",
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"config": {
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"device": "cuda",
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"float_dtype": null
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}
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}
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]
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}
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policy_preprocessor_step_1_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:45a93e1a5e46bcc3d0c4158865712b91172a1b012eb0bccdd743cae28281e96d
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size 12556
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